相关论文: Unsupervised Learning of Monocular Depth Estimatio…

Single-view depth prediction is a fundamental problem in computer vision. Recently, deep learning methods have led to significant progress, but such methods are limited by the available training data. Current datasets based on 3D sensors…

Self-supervised paradigms for monocular depth estimation are very appealing since they do not require ground truth annotations at all. Despite the astonishing results yielded by such methodologies, learning to reason about the uncertainty…

In the current monocular depth research, the dominant approach is to employ unsupervised training on large datasets, driven by warped photometric consistency. Such approaches lack robustness and are unable to generalize to challenging…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Over the past few years, self-supervised monocular depth estimation that does not depend on ground-truth during the training phase has received widespread attention. Most efforts focus on designing different types of network architectures…

Monocular depth reconstruction of complex and dynamic scenes is a highly challenging problem. While for rigid scenes learning-based methods have been offering promising results even in unsupervised cases, there exists little to no…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

Reconstructing accurate 3D scenes from images is a long-standing vision task. Due to the ill-posedness of the single-image reconstruction problem, most well-established methods are built upon multi-view geometry. State-of-the-art (SOTA)…

We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which…

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To…

Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…

Photometric consistency loss is one of the representative objective functions commonly used for self-supervised monocular depth estimation. However, this loss often causes unstable depth predictions in textureless or occluded regions due to…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

In this paper, we present a new method for multi-view geometric reconstruction. In recent years, large vision models have rapidly developed, performing excellently across various tasks and demonstrating remarkable generalization…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…

Conventional self-supervised monocular depth prediction methods are based on a static environment assumption, which leads to accuracy degradation in dynamic scenes due to the mismatch and occlusion problems introduced by object motions.…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…